#ifndef _CHASSIS_TASK
#define _CHASSIS_TASK

#include "pid.h"

/*--define--begin--*/
#define CHASSIS_ENABLE 0x01 //0000 0001
#define CHASSIS_FLOWE  0x02 //0000 0010
/*--define--end--*/

/*--base--begin--*/
typedef struct
{
  fp32 vx;
	fp32 vy;
	fp32 wz;
	pid_type_def chassis_psi;
	uint8_t chassis_gimbal_zore_change;
	uint8_t chassis_enable;
	
		fp32 angle_error;
	
	fp32 chassis_power;
	fp32 chassis_power_limit;
	fp32 chassis_power_buffer;
//	fp32 hlem_power_scale[2];// 6020 3508
}chassis_control_t;

/*--base--end--*/

/*--extern--begin--*/
extern chassis_control_t chassis_control;
extern uint8_t rollwheel_mode;
/*--extern--end--*/


/*--function--begin--*/
extern void chassis_vector_set(fp32 vx,fp32 vy,fp32 wz,fp32 ang_err,uint8_t flag);
extern void chassis_solve();

/*--function--end*/




#endif
